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cal-prattcal-pratt
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Merge pull request #320 from EasternEdgeRobotics/depth-sensor
Refactor the io package and create depth sensor.
2 parents 2844cec + 0e84278 commit 59b99ea

77 files changed

Lines changed: 801 additions & 624 deletions

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‎build.gradle‎

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Original file line numberDiff line numberDiff line change
@@ -66,9 +66,6 @@ test {
6666

6767
task testJar(type: Jar) {
6868
from sourceSets.test.output + sourceSets.main.output
69-
from(configurations.testCompile.collect { it.isDirectory() ? it : zipTree(it) }) {
70-
exclude 'META-INF/**'
71-
}
7269

7370
classifier 'tests'
7471
description 'Assembles a jar archive containing the test classes.'

‎playbooks/files/defaultConfig.yml‎

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@@ -48,6 +48,7 @@ rov:
4848
bluetoothComPort: /dev/ttyS0
4949
bluetoothConnectionTimeout: 2000
5050
bluetoothBaudRate: 9600
51+
pressureSensorConvertTime: 100
5152
videoDecoder:
5253
host: 192.168.88.2
5354
portA: 12345

‎playbooks/files/etc/systemd/system/eer.service‎

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Original file line numberDiff line numberDiff line change
@@ -1,11 +1,14 @@
11
[Unit]
22
Description=Eastern Edge Robotics Control Software
3+
Wants=network-online.target
4+
After=network.target network-online.target
35

46
[Service]
57
TimeoutStartSec=0
68
Restart=on-failure
79
RuntimeDirectory=eer
8-
ExecStart=/usr/bin/java -cp "/opt/eer-{{ version }}/libs/*" {{ entry_point }} \
10+
ExecStart=/usr/bin/java -agentlib:jdwp=transport=dt_socket,server=y,address=8000,suspend={{ suspend }} \
11+
-cp "/opt/eer-{{ version }}/libs/*" {{ entry_point }} \
912
--default /opt/eer-{{ version }}/defaultConfig.yml \
1013
--config /home/{{ ansible_user }}/config.yml
1114

‎playbooks/hosts‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -10,8 +10,8 @@ version=9.0.0
1010
192.168.88.2 ansible_user=eedge ansible_ssh_pass=eedge ansible_sudo_pass=eedge entry_point=com.easternedgerobotics.rov.Topside
1111

1212
[rasprime]
13-
192.168.88.4 ansible_user=pi ansible_ssh_pass=raspberry entry_point=com.easternedgerobotics.rov.Rov
13+
192.168.88.4 ansible_user=pi ansible_ssh_pass=raspberry entry_point=com.easternedgerobotics.rov.Rov suspend=n
1414

1515
[picamera]
16-
192.168.88.5 ansible_user=pi ansible_ssh_pass=raspberry entry_point=com.easternedgerobotics.rov.PicameraA
17-
192.168.88.6 ansible_user=pi ansible_ssh_pass=raspberry entry_point=com.easternedgerobotics.rov.PicameraB
16+
192.168.88.5 ansible_user=pi ansible_ssh_pass=raspberry entry_point=com.easternedgerobotics.rov.PicameraA suspend=n
17+
192.168.88.6 ansible_user=pi ansible_ssh_pass=raspberry entry_point=com.easternedgerobotics.rov.PicameraB suspend=n

‎src/main/java/com/easternedgerobotics/rov/PicameraA.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
44
import com.easternedgerobotics.rov.config.LaunchConfig;
55
import com.easternedgerobotics.rov.event.BroadcastEventPublisher;
66
import com.easternedgerobotics.rov.event.EventPublisher;
7-
import com.easternedgerobotics.rov.io.CpuInformation;
7+
import com.easternedgerobotics.rov.io.rpi.RaspberryCpuInformation;
88
import com.easternedgerobotics.rov.value.CameraCaptureValueA;
99
import com.easternedgerobotics.rov.value.PicameraACpuValue;
1010
import com.easternedgerobotics.rov.value.PicameraAHeartbeatValue;
@@ -59,7 +59,7 @@ private static void initCameraA(
5959
.observeOn(Schedulers.io())
6060
.subscribe(eventPublisher::emit);
6161

62-
final CpuInformation cpuInformation = new CpuInformation(
62+
final RaspberryCpuInformation cpuInformation = new RaspberryCpuInformation(
6363
PicameraACpuValue::new, heartbeatRate, TimeUnit.SECONDS);
6464
cpuInformation.observe().subscribe(eventPublisher::emit, Logger::error);
6565
}

‎src/main/java/com/easternedgerobotics/rov/PicameraB.java‎

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Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
44
import com.easternedgerobotics.rov.config.LaunchConfig;
55
import com.easternedgerobotics.rov.event.BroadcastEventPublisher;
66
import com.easternedgerobotics.rov.event.EventPublisher;
7-
import com.easternedgerobotics.rov.io.CpuInformation;
7+
import com.easternedgerobotics.rov.io.rpi.RaspberryCpuInformation;
88
import com.easternedgerobotics.rov.value.CameraCaptureValueB;
99
import com.easternedgerobotics.rov.value.PicameraBCpuValue;
1010
import com.easternedgerobotics.rov.value.PicameraBHeartbeatValue;
@@ -59,7 +59,7 @@ private static void initCameraB(
5959
.observeOn(Schedulers.io())
6060
.subscribe(eventPublisher::emit);
6161

62-
final CpuInformation cpuInformation = new CpuInformation(
62+
final RaspberryCpuInformation cpuInformation = new RaspberryCpuInformation(
6363
PicameraBCpuValue::new, heartbeatRate, TimeUnit.SECONDS);
6464
cpuInformation.observe().subscribe(eventPublisher::emit, Logger::error);
6565
}

‎src/main/java/com/easternedgerobotics/rov/Rov.java‎

Lines changed: 54 additions & 36 deletions
Original file line numberDiff line numberDiff line change
@@ -6,22 +6,24 @@
66
import com.easternedgerobotics.rov.control.SixThrusterConfig;
77
import com.easternedgerobotics.rov.event.BroadcastEventPublisher;
88
import com.easternedgerobotics.rov.event.EventPublisher;
9-
import com.easternedgerobotics.rov.io.ADC;
10-
import com.easternedgerobotics.rov.io.Accelerometer;
11-
import com.easternedgerobotics.rov.io.Barometer;
12-
import com.easternedgerobotics.rov.io.Bluetooth;
9+
import com.easternedgerobotics.rov.io.Bar30PressureSensor;
1310
import com.easternedgerobotics.rov.io.BluetoothReader;
14-
import com.easternedgerobotics.rov.io.CpuInformation;
15-
import com.easternedgerobotics.rov.io.Gyroscope;
1611
import com.easternedgerobotics.rov.io.Light;
17-
import com.easternedgerobotics.rov.io.Magnetometer;
1812
import com.easternedgerobotics.rov.io.Motor;
19-
import com.easternedgerobotics.rov.io.PWM;
20-
import com.easternedgerobotics.rov.io.Thermometer;
2113
import com.easternedgerobotics.rov.io.Thruster;
14+
import com.easternedgerobotics.rov.io.devices.ADC;
15+
import com.easternedgerobotics.rov.io.devices.Accelerometer;
16+
import com.easternedgerobotics.rov.io.devices.Barometer;
17+
import com.easternedgerobotics.rov.io.devices.Bluetooth;
18+
import com.easternedgerobotics.rov.io.devices.Gyroscope;
19+
import com.easternedgerobotics.rov.io.devices.I2C;
20+
import com.easternedgerobotics.rov.io.devices.Magnetometer;
21+
import com.easternedgerobotics.rov.io.devices.PWM;
22+
import com.easternedgerobotics.rov.io.devices.Thermometer;
2223
import com.easternedgerobotics.rov.io.pololu.AltIMU10v3;
2324
import com.easternedgerobotics.rov.io.pololu.Maestro;
24-
import com.easternedgerobotics.rov.io.pololu.PololuBus;
25+
import com.easternedgerobotics.rov.io.rpi.RaspberryCpuInformation;
26+
import com.easternedgerobotics.rov.io.rpi.RaspberryI2CBus;
2527
import com.easternedgerobotics.rov.math.Range;
2628
import com.easternedgerobotics.rov.value.CameraSpeedValueA;
2729
import com.easternedgerobotics.rov.value.CameraSpeedValueB;
@@ -82,9 +84,13 @@ final class Rov {
8284

8385
private final Accelerometer accelerometer;
8486

85-
private final Barometer barometer;
87+
private final Barometer internalBarometer;
8688

87-
private final Thermometer thermometer;
89+
private final Thermometer internalThermometer;
90+
91+
private final Barometer externalBarometer;
92+
93+
private final Thermometer externalThermometer;
8894

8995
private final Gyroscope gyroscope;
9096

@@ -99,10 +105,12 @@ final class Rov {
99105
private final Subject<Void, Void> killSwitch = PublishSubject.create();
100106

101107
<AltIMU extends Accelerometer & Barometer & Thermometer & Gyroscope & Magnetometer,
108+
PressureSensor extends Barometer & Thermometer,
102109
MaestroChannel extends ADC & PWM> Rov(
103110
final EventPublisher eventPublisher,
104111
final List<MaestroChannel> channels,
105112
final AltIMU imu,
113+
final PressureSensor externalPressure,
106114
final Bluetooth bluetooth,
107115
final RovConfig rovConfig
108116
) {
@@ -216,11 +224,14 @@ MaestroChannel extends ADC & PWM> Rov(
216224
channels.get(config.lightBChannel()).setOutputRange(new Range(Light.MAX_REV, Light.MAX_FWD)))
217225
));
218226

219-
barometer = () -> imu.pressure();
227+
internalBarometer = () -> imu.pressure();
220228
magnetometer = () -> imu.rotation();
221229
accelerometer = () -> imu.acceleration();
222230
gyroscope = () -> imu.angularVelocity();
223-
thermometer = () -> imu.temperature();
231+
internalThermometer = () -> imu.temperature();
232+
233+
externalBarometer = () -> externalPressure.pressure();
234+
externalThermometer = () -> externalPressure.temperature();
224235

225236
this.bluetooth = bluetooth;
226237
}
@@ -253,7 +264,7 @@ void shutdown() {
253264
*/
254265
void init(final Scheduler io, final Scheduler sensorRead, final Scheduler clock) {
255266
Logger.debug("Wiring up heartbeat, timeout, and thruster updates");
256-
final CpuInformation cpuInformation = new CpuInformation(
267+
final RaspberryCpuInformation cpuInformation = new RaspberryCpuInformation(
257268
RasprimeCpuValue::new, config.cpuPollInterval(), TimeUnit.SECONDS);
258269
cpuInformation.observe().subscribe(eventPublisher::emit, Logger::error);
259270

@@ -279,18 +290,18 @@ void init(final Scheduler io, final Scheduler sensorRead, final Scheduler clock)
279290

280291
thrusters.forEach(Thruster::writeZero);
281292

282-
// Temporarily commented section to prevent logs overflowing. FIX ME!!!
283-
284293
final Observable<Long> sensorInterval = Observable.interval(
285294
config.sensorPollInterval(),
286295
TimeUnit.MILLISECONDS,
287296
sensorRead);
288297
sensorInterval.subscribe(tick -> {
289-
eventPublisher.emit(barometer.pressure());
298+
eventPublisher.emit(internalBarometer.pressure());
290299
eventPublisher.emit(accelerometer.acceleration());
291300
eventPublisher.emit(gyroscope.angularVelocity());
292301
eventPublisher.emit(magnetometer.rotation());
293-
eventPublisher.emit(thermometer.temperature());
302+
eventPublisher.emit(internalThermometer.temperature());
303+
eventPublisher.emit(externalBarometer.pressure());
304+
eventPublisher.emit(externalThermometer.temperature());
294305
});
295306

296307
bluetooth.start(eventPublisher);
@@ -338,14 +349,14 @@ private void onCompleted() {
338349
public static void main(final String[] args) throws InterruptedException, IOException {
339350
final String app = "rov";
340351
final HelpFormatter formatter = new HelpFormatter();
341-
final Option defaultConfig = Option.builder("d")
352+
final Option defaultConfigOption = Option.builder("d")
342353
.longOpt("default")
343354
.hasArg()
344355
.argName("DEFAULT")
345356
.desc("name of the default config file")
346357
.required()
347358
.build();
348-
final Option config = Option.builder("c")
359+
final Option configOption = Option.builder("c")
349360
.longOpt("config")
350361
.hasArg()
351362
.argName("CONFIG")
@@ -354,44 +365,51 @@ public static void main(final String[] args) throws InterruptedException, IOExce
354365
.build();
355366

356367
final Options options = new Options();
357-
options.addOption(defaultConfig);
358-
options.addOption(config);
368+
options.addOption(defaultConfigOption);
369+
options.addOption(configOption);
359370

360371
try {
361372
final CommandLineParser parser = new DefaultParser();
362373
final CommandLine arguments = parser.parse(options, args);
363374

364-
final LaunchConfig launchConfig = new Config(
365-
arguments.getOptionValue("d"),
366-
arguments.getOptionValue("c")
367-
).getConfig("launch", LaunchConfig.class);
375+
final Config config = new Config(arguments.getOptionValue("d"), arguments.getOptionValue("c"));
376+
final LaunchConfig launchConfig = config.getConfig("launch", LaunchConfig.class);
377+
final RovConfig rovConfig = config.getConfig("rov", RovConfig.class);
368378

369379
final InetAddress broadcastAddress = InetAddress.getByName(launchConfig.broadcast());
370380
final int broadcastPort = launchConfig.defaultBroadcastPort();
371381
final DatagramSocket socket = new DatagramSocket(broadcastPort);
372382
final EventPublisher eventPublisher = new BroadcastEventPublisher(new UdpBroadcast<>(
373383
socket, broadcastAddress, broadcastPort, new BasicOrder<>()));
384+
374385
final Serial serial = SerialFactory.createInstance();
375-
final RovConfig rovConfig = new Config(
376-
arguments.getOptionValue("d"),
377-
arguments.getOptionValue("c")
378-
).getConfig("rov", RovConfig.class);
386+
final List<I2C> i2cBus = new RaspberryI2CBus(rovConfig.i2cBus());
387+
388+
final Scheduler sensorRead = Schedulers.newThread();
389+
379390
final Rov rov = new Rov(
380391
eventPublisher,
381-
new Maestro<>(serial, rovConfig.maestroDeviceNumber()),
382-
new AltIMU10v3(new PololuBus(rovConfig.i2cBus()), rovConfig.altImuSa0High()),
392+
new Maestro<>(
393+
serial,
394+
rovConfig.maestroDeviceNumber()),
395+
new AltIMU10v3(
396+
i2cBus,
397+
rovConfig.altImuSa0High()),
398+
new Bar30PressureSensor(
399+
i2cBus.get(Bar30PressureSensor.ADDRESS),
400+
sensorRead,
401+
rovConfig.pressureSensorConvertTime()),
383402
new BluetoothReader(
384403
rovConfig.bluetoothComPortName(),
385404
rovConfig.bluetoothComPort(),
386405
rovConfig.bluetoothConnectionTimeout(),
387-
rovConfig.bluetoothBaudRate()
388-
),
406+
rovConfig.bluetoothBaudRate()),
389407
rovConfig);
390408

391409
Runtime.getRuntime().addShutdownHook(new Thread(rov::shutdown));
392410

393411
serial.open(launchConfig.serialPort(), launchConfig.baudRate());
394-
rov.init(Schedulers.io(), Schedulers.newThread(), Schedulers.computation());
412+
rov.init(Schedulers.io(), sensorRead, Schedulers.computation());
395413

396414
Logger.info("Started");
397415
eventPublisher.await();

‎src/main/java/com/easternedgerobotics/rov/Topside.java‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -15,15 +15,15 @@
1515
import com.easternedgerobotics.rov.event.EventPublisher;
1616
import com.easternedgerobotics.rov.fx.MainView;
1717
import com.easternedgerobotics.rov.fx.ViewLoader;
18-
import com.easternedgerobotics.rov.io.EmergencyStopController;
19-
import com.easternedgerobotics.rov.io.MotionPowerStoreController;
20-
import com.easternedgerobotics.rov.io.SliderController;
21-
import com.easternedgerobotics.rov.io.TcpFileReceiver;
22-
import com.easternedgerobotics.rov.io.ValueStore;
2318
import com.easternedgerobotics.rov.io.arduino.Arduino;
2419
import com.easternedgerobotics.rov.io.arduino.ArduinoPort;
20+
import com.easternedgerobotics.rov.io.files.TcpFileReceiver;
21+
import com.easternedgerobotics.rov.io.files.ValueStore;
2522
import com.easternedgerobotics.rov.io.joystick.JoystickController;
2623
import com.easternedgerobotics.rov.io.joystick.LogitechExtremeJoystickSource;
24+
import com.easternedgerobotics.rov.io.panel.EmergencyStopController;
25+
import com.easternedgerobotics.rov.io.panel.MotionPowerStoreController;
26+
import com.easternedgerobotics.rov.io.panel.SliderController;
2727
import com.easternedgerobotics.rov.math.DistanceCalculator;
2828
import com.easternedgerobotics.rov.value.CameraCalibrationValue;
2929
import com.easternedgerobotics.rov.value.MotionPowerValue;

‎src/main/java/com/easternedgerobotics/rov/config/RovConfig.java‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -50,4 +50,6 @@ public interface RovConfig {
5050
int bluetoothConnectionTimeout();
5151

5252
int bluetoothBaudRate();
53+
54+
int pressureSensorConvertTime();
5355
}

‎src/main/java/com/easternedgerobotics/rov/fx/DistanceCalculatorViewController.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@
66
import com.easternedgerobotics.rov.fx.distance.AxisNode;
77
import com.easternedgerobotics.rov.fx.distance.ShapeScene;
88
import com.easternedgerobotics.rov.fx.distance.TextNode;
9-
import com.easternedgerobotics.rov.io.FileUtil;
9+
import com.easternedgerobotics.rov.io.files.FileUtil;
1010
import com.easternedgerobotics.rov.math.DistanceCalculator;
1111
import com.easternedgerobotics.rov.value.AxisValue;
1212
import com.easternedgerobotics.rov.value.PointValue;

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